High-Gain Disturbance Observer-Based Backstepping Control With Output Tracking Error Constraint for Electro-Hydraulic Systems
- Title
- High-Gain Disturbance Observer-Based Backstepping Control With Output Tracking Error Constraint for Electro-Hydraulic Systems
- Author
- 정정주
- Keywords
- Backstepping; disturbance observer; electro-hydraulic systems; EHSs; Lyapunov stability; output constraint
- Issue Date
- 2015-03
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Citation
- IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, v. 23, NO 2, Page. 787-795
- Abstract
- We propose a high-gain disturbance observer (HGDOB)-based backstepping control with position tracking error constraint for electro-hydraulic systems to improve the position tracking performance in the presence of disturbances. The HGDOB is designed to estimate the disturbances that include the friction, the load force, and the parameter uncertainties. Auxiliary state variables are proposed to avoid amplification of the measurement noise in the HGDOB. To compensate for the disturbances while guaranteeing tolerance of the position tracking error, the backstepping controller is proposed by using the barrier Lyapunov function. As a result, the proposed method satisfies the output constraint and improves the position tracking performance in the presence of disturbances. Its performance is validated via simulations and experiments.
- URI
- http://ieeexplore.ieee.org/document/6839032/http://hdl.handle.net/20.500.11754/23201
- ISSN
- 1063-6536; 1558-0865
- DOI
- 10.1109/TCST.2014.2325895
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML